Equity Incentive Plans and Stock-Based Compensation - Performance-Based Restricted Stock Units - Narrative (Details) $ / shares in Units, $ in Millions	9 Months Ended
Sep. 30, 2023 USD ($) $ / shares shares
Performance-based restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	2 years
Target level of achievement percentage	100.00%
Unrecognized compensation cost \| $	$ 4.2
Unrecognized compensation expense, weighted average period	9 months 14 days
Performance-based restricted stock units \| Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting rights, percentage	0.00%
Performance-based restricted stock units \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting rights, percentage	200.00%
Performance-Based Restricted Stock Units, TSR Goal
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding and unvested (in shares) \| shares	354,534
Weighted-average grant date fair value, outstanding and unvested (USD per share) \| $ / shares	$ 29.15

Share-Based Compensation Arrangement By Share-Based Payment Award, Target Level Of Achievement Percentage

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Percentage of vesting of award under share-based payment arrangement.

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